Digi ConnectCore 9M 2440 300 MHz Module w/32MB SDRAM 32MB Flash, No Ethernet User guide

LxNETES™ User’s Guide

A9M2410 & A9M2440

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herein; these changes may be incorporated in new editions of the publication.

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Contents

Chapter 1 Introduction........................................................................9

Overview..................................................................................................................9

Cross-development environment.......................................................................9

Linux kernel sources........................................................................................10

Template project ..............................................................................................10

Example applications.................................................................................10

Features..................................................................................................................11

What’s new in LxNETES 3.2? ........................................................................11

Linux Kernel..............................................................................................11

Bootloader..................................................................................................11

Tool chain ..................................................................................................11

General features...............................................................................................11

Conventions used in this manual.....................................................................13

Acronyms and abbreviations ...........................................................................14

Chapter 2 Requirements ...................................................................15

System Requirements/Prerequisites.......................................................................15

System requirements........................................................................................15

Disk space........................................................................................................16

Applications & Services ..................................................................................17

TFTP daemon ..................................................................................................17

NFS server .......................................................................................................18

JTAG-Booster..................................................................................................19

Chapter 3 Getting Started.................................................................21

Introduction............................................................................................................21

Connecting host PC with development board..................................................21

Step 1: Connect serial port.........................................................................21

Step 2: Connect Ethernet interface ............................................................21

Step 3: Configure terminal client...............................................................21

Minicom...........................................................................................................22

Seyon ...............................................................................................................22

Step 4: Connect power...............................................................................23

Step 5: Test Ethernet configuration ...........................................................24

Installing LxNETES ..............................................................................................25

Guided Installation.................................................................................................26

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Manual Installation................................................................................................27

Chapter 4 Building the First Project................................................. 29

Building the Default Project..................................................................................29

Step 1: Run configure................................................................................29

Example: .............................................................................................29

Step 2: Run make.......................................................................................30

Step 3: Run make install............................................................................30

Chapter 5 Application Development................................................ 31

Writing applications...............................................................................................31

Adding your own applications.........................................................................31

Example: .............................................................................................31

Using C++........................................................................................................32

Included example applications ..................................................................32

display........................................................................................................32

Debugging applications .........................................................................................34

Included pre-built applications ........................................................................36

Shell applications: busybox.............................................................................36

Telnet daemon: utelnetd ..................................................................................36

Web server: Boa ..............................................................................................36

Debug server: gdbserver..................................................................................36

Nano-X/microwindows....................................................................................37

Embedded Qt ...................................................................................................37

Useful applications ................................................................................................38

mem .................................................................................................................38

Chapter 6 Kernel Development........................................................ 39

Writing kernel modules .........................................................................................39

What is a kernel module? ................................................................................39

Writing your own kernel modules...................................................................39

Add your source files.......................................................................................39

Add the module to the build environment......................................................40

Building and loading of kernel modules..........................................................40

Included Kernel modules.................................................................................40

minimal............................................................................................................40

Chapter 7 Advanced Topics............................................................. 41

Modifying the default project................................................................................41

Building a custom project......................................................................................43

Boot process...........................................................................................................44

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Introduction......................................................................................................44

U-Boot ...................................................................................................................44

A9M2410/2440 ...................................................................................45

Linux boot methods...............................................................................................46

TFTP/NFS........................................................................................................46

NAND-Flash....................................................................................................46

NOR Flash .......................................................................................................47

USB..................................................................................................................47

Linux boot process.................................................................................................48

Passing arguments to the kernel.......................................................................50

Automating the image download.....................................................................50

Updating the Flash memory.............................................................................50

Updating a running system (the easy way)......................................................51

Updating a running system manually ..............................................................51

Step 1: Download the new image file to RAM..........................................52

Step 2: Erase the Flash partition................................................................52

Step 3: Write the image to Flash................................................................52

A9M2410/2440................................................................................................53

U-Boot .......................................................................................................53

Kernel.........................................................................................................53

Root File System........................................................................................53

Updating a corrupted system using a debugger.....................................................54

A9M2410/2440................................................................................................54

Chapter 8 Root File System Types...................................................55

NFSROOT .......................................................................................................55

Step 1: Set bootargs to be passed to the kernel..........................................56

Step 2: Download the kernel to RAM via TFTP .......................................56

Step 3: Launch the kernel from RAM .......................................................56

JFFS2 ...............................................................................................................57

Step 1: Set bootargs to be passed to the kernel..........................................58

Step 2: Copy the kernel to RAM ...............................................................58

Step 3: Launch the kernel from RAM .......................................................58

Chapter 9 Interfaces & Devices........................................................61

Serial interface.................................................................................................61

USB host interface...........................................................................................62

I2C interface ....................................................................................................62

SPI interface.....................................................................................................62

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A9M2410/2440..........................................................................................62

LCD interface ..................................................................................................62

A9M2410/2440..........................................................................................62

Touch screen interface.....................................................................................63

A9M2410/2440..........................................................................................63

Compact flash interface...................................................................................63

A9M2410/2440..........................................................................................63

SD card interface .............................................................................................63

A9M2410/2440..........................................................................................63

Real time clock (RTC).....................................................................................64

How to set the initial system date and time.....................................................64

PCI interface....................................................................................................64

Appendix A ..........................................................................................................65

Related documentation ..........................................................................................65

CD contents .....................................................................................................65

Readme.txt.......................................................................................................66

RelNotes.txt.....................................................................................................66

install.sh...........................................................................................................66

docs..................................................................................................................66

images..............................................................................................................66

A9M2410/A9M2440 .......................................................................................67

hardware ..........................................................................................................67

LxNETES ........................................................................................................67

setup...........................................................................................................67

upstream.....................................................................................................67

U-Boot .......................................................................................................68

Memory layouts.....................................................................................................68

Flash memory layout ......................................................................................68

A9M2410/2440................................................................................................68

SDRAM memory layout..................................................................................68

A9M2410/2440................................................................................................69

Appendix B.......................................................................................................... 71

U-Boot command reference...................................................................................71

User keys ...............................................................................................................75

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Introduction

CHAPTER 1

Overview

The LxNETES package enables you to easily develop software under Linux 2.6 for Digi

International and FS Forth-Systeme embedded modules supported in this release of

LxNETES.

This document assumes that you have basic knowledge of Linux. In addition, it is

recommended that you have experience with compiling a standard Linux kernel on your

host PC. If you are new to Linux, the following books are recommended for resources:

1.) Linux Device Drivers, 3rd Edition, by J. Corbet, A. Rubini, and G. Kroah-Hartman,

ISBN 0-596-00590-3

2.) Debian Reference

http://www.debian.org/doc/manuals/reference/reference.en.html

The following sections explain the several parts that compose the LxNETES package.

Cross-development environment

Whenever you need to generate code for an embedded target on a development system

with a different microprocessor architecture, you need a cross-development environment.

That is, you need a compiler that executes in your development system (for example a x86

PC) but generates code that executes in a different processor (for example your target is

NET+ARM).

LxNETES provides the GNU cross-development tool chain for NET+ARM, ARM, and

X-Scale, which contains the compiler, linker, assembler, and shared libraries needed to

generate software for the supported platforms.

Overview

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LxNETES User’s Guide

Linux kernel sources

The LxNETES package contains the complete source code of the Linux kernel. This

allows you to configure, modify, and create a custom kernel to your specific embedded

system’s needs. Although the kernel sources are the official distribution, some

modifications have been made to adapt the sources to the supported platforms.

Template project

The philosophy of work in LxNETES environment is linked to the idea of ‘projects’. A

project is actually a folder which contains the custom system for a specific target. This

folder will contain:

 The specific kernel configuration

 The root file system, directory structure, and files

 The applications compiled

With one simple command, the compilation process takes care of compiling the kernel,

the applications, generating the target’s file system, and compressing into the final binary

images. The compilation process take place within the project folder with normal user

permissions.

Example applications

As part of the project template, several example applications are included with complete

source code. These examples can be used as templates for your future software

applications. They are distributed in an environment that allows you to compile them for

either of the following systems:

 The target development system (default)

 The target development system with debug information

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Introduction

Features

What’s new in LxNETES 3.2?

Linux Kernel

 Linux Kernel 2.6.12.5

 Added touch screen driver for the A9M2410/A9M2440 modules

 Added SPI driver for the A9M2410/A9M2440 module

 Build process based on autoconf

Bootloader

 New U-Boot boot loader, based on version 1.1.3

Tool chain

 gcc-3.4.4 cross compiler for NET+ARM, ARM, and XScale processors

General features

With LxNETES you receive a Development Kit and BSP with the following features:

 Support for Linux kernel 2.6

 Support for the following NET+ARM, ARM, and Intel X-Scale processors:

– NetSilicon: NS9750, NS9360

– Samsung: S3C2440, S3C2410

– Intel: PXA270

– Atmel: AT91RM9200

For existing LxNETES customers: LxNETES 3.2 uses a different uClibc than

previous versions of LxNETES which is not backwards compatible.

Applications built with old uClibc cannot be used in the new environment;

they have to be rebuilt.

Features

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LxNETES User’s Guide

 Drivers for the following module components and interfaces:

– SDRAM memory

– Flash memory

–Ethernet

–USB Host

–Serial

–I2C

–RTC

–GPIO

– Watchdog

– LCD Framebuffer

– Compact Flash Cards

–SD Cards

–PCI

–SPI

– Touch Screen

– User Buttons if available

 U-Boot universal bootloader, capable of booting Linux and other operating

systems from Ethernet, Flash memory and USB.

 C and C++ support for application development

 gcc-3.4.4 cross compiler for Net+ARM, ARM, and XScale processors

 uClibc 0.9.27 for user applications

 Pre-built Busybox and other applications

 Telnet daemon utelnetd

 Web server BOA

 Nano-X and QT embedded sample projects

 Shared library support

 Project-oriented workflow – kernel configuration and rootfs setup are separated

from kernel sources, tool chain sources, thus making it possible to maintain the

project in a revision control system.

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Introduction

 Autoconf driven build process

 All building can be done without root access

 This LxNETES version can coexist with older installations of LxNETES

Conventions used in this manual

The following is a list of the typographical conventions used in this manual:

This manual also uses these frames and symbols:

Style

Used for file and directory names, programs and command names,

command-line options, URL, and new terms.

Style

Used in examples to show the contents of files, the output from

commands or in the text the C code.

Style

Used in examples to show the text that should be typed literally by the

user.

#

This prompt indicates that the listed commands have to be executed as

a root.

$

This prompt indicates that listed commands have to be executed as a

normal user.

[1]

Used to indicate an item of the reference section.

This is a warning. It helps you to solve or to avoid common mistakes or

problems.

This is a tip. It contains useful information about a topic.

$ This is a host computer session

$ And this is what you must input (in bold)

Features

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Acronyms and abbreviations

# This is a target session

# And this is what you must input (in bold)

CGI Common Gateway Interface

CRAMFS Compressed ROM File system

DHCP Dynamic Host Configuration Protocol (RFC 2131)

GDB GNU debugger

GPIO General Purpose Input/Output

INITRD Initial Ram Disk

IP Internet Protocol

JFFS(2) Journaling Flash File System (version 2)

JTAG Joint Test Action Group (IEEE 1149.1)

MMU Memory Management Unit

NFS Network File System

ROMFS ROM File System

ROOTFS Root File System

RTC Real Time Clock

TFTP Trivial File Transfer Protocol

USB Universal Serial Bus

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Requirements

CHAPTER 2

System Requirements/Prerequisites

System requirements

Your development system should be a reasonably fast x86-based host PC with an Ethernet

interface, a serial port, and a parallel port.

Different Linux distributions such as SuSE, Debian, or RedHat can be used for the

development. This documentation is based on the Debian Linux distribution; however,

other distributions with minor changes in the settings can also be used. Please refer to the

manuals of your Linux distribution if settings are not working as described in this

document.

The following software is required on your development system:

 GNU C library glibc 2.3

 GNU C compiler gcc >= 2.95.3 (3.3 or higher recommended)

 GNU make version >= 3.80

 awk

 perl >= 5.6.0

 autoconf >= 2.59

 Terminal client software (such as Minicom or Seyon)

 TFTP daemon

 NFS daemon

 rsync

System Requirements/Prerequisites

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LxNETES User’s Guide

 DOS or DOS-emulator (such as dosemu)

Optional but recommended components:

 Qt3 development tools

For using LxNETES, a recent Linux distribution based on GNU C Library glibc version

2.3 (a free implementation of the Standard C Library) is needed. To find out which glibc

version is installed on your system use the following commands:

Please make sure that you use GNU Make version 3.80 or later. Check yours with the

following command:

Check the versions of required applications with these commands:

Disk space

The LxNETES installation needs 400 MB of free disk space. Every project you create

needs another 100 MB free disk space. The LxNETES installation and the projects can be

located on different hard disks.

Check if there is enough space available on your drive by executing the following

command:

The “df” command displays the amount of disk space available. The option h displays the

space. For detailed information read the man page of “df”.

$ ldd --version

$ ls -l /lib/libc*so

$ make –v

$ gcc --version

$ perl -v

$ autoconf --version

$ df -h

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Requirements

Applications & Services

To use this software, your system has to be configured to build a standard Linux 2.6. If

you can build a kernel for your development platform, you can be sure that all the

necessary software is installed.

Depending on the network services used during the development, additional daemons may

have to be installed.

TFTP daemon

U-Boot is able to write files to the Flash memory of the module. A TFTP server is

required to transport these files from your host computer to the target. Debian users can

execute the following command to install a TFTP server:

After completing installation, create a directory using the path “/tftboot” where exported

files are located. Your images can be placed in the directory automatically by the

LxNETES build environment. You must be root to create this directory.

To make sure that your TFTP server is using the “/tftpboot” directory, check the Internet

daemons configuration file "/etc/inetd.conf". It should contain an entry similar to the

following:

If the entry is not there, use an editor and change the file accordingly.

# apt-get install tftpd

# mkdir /tftpboot

# chmod 1777 /tftpboot

tftp dgram udp wait nobody /usr/sbin/tcpd /usr/sbin/in.tftpd -s /tftpboot

System Requirements/Prerequisites

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NFS server

Use the network file system (NFS) to simplify application debugging on the target. NFS

allows your target to mount its root file system with read/write permissions from the host

computer over Ethernet. NFS also allows you to access the file system from the target and

from the host computer the same time.

The NFS server configuration details are beyond the scope of this User's Manual and are

very specific to the various distributions. This manual only describes the modifications

necessary on hosts running a Debian distribution. Please refer to your Linux distribution

manual to setup a NFS server if you are using a different distribution.

When the NFS server package (Debian package nfs-kernel-server) is installed on Debian,

there is a file "/etc/exports" that contains information on exported directories and its

access rights. Add the following line to this file to provide read/write access for your

target:

BOOTDIR needs to be replaced with the path to the NFS root directory which is exported

to the target. The IP_ADDRESS needs to be replaced with the IP address of your target.

Please refer to the Linux man pages for detailed information about the /etc/exports file.

The build process copies the NFS root to /export/nfsroot-<platformname>; e.g. to export

the rootfs for cc9p9750, write the following to /etc/exports:

For simplicity’s sake you can export the whole /exports dir for a complete subnet, e.g.:

BOOTDIR IP_ADDRESS(rw,all_squash,async)

/exports/nfsroot-cc9p9750dev 192.168.42.10(rw,all_squash,async)

/exports 192.168.42.0/24(rw,all_squash,async)

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Requirements

After modifying the exports file, the NFS server has to be restarted with the following

command:

JTAG-Booster

The JTAG-Booster software for hardware Flash updates is a DOS application. It must be

installed on a native DOS / Windows host or a virtual machine like "dosemu" under

Linux.

Execute "dosemu" as root to gain full hardware access. The configuration file of dosemu

needs the entry:

To install the JTAG-Booster software, copy the directory "hardware" from the CD to any

directory on the hard disk. This directory may also contain a file "Readme.txt" with the

latest instructions. Ensure that the parallel port is accessible for the application. If you are

using Microsoft Windows NT, 2000, or XP, you have to install the "Kithara DOS Enabler"

which is shipped on the LxNETES CD. A detailed manual can be found on the CD in the

folder "hardware".

# /etc/init.d/nfs-kernel-server restart

$_ports = "fast range 0x378 0x37a fast range 0x3f8 0x3ff range 0x778 0x77a”

System Requirements/Prerequisites

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